Pull rod type suspended robot wheel leg walking mechanism

Abstract

The invention provides a pull rod type suspended robot wheel leg walking mechanism, comprising a frame, a pull rod rocker differential suspension system, a left wheel leg system and a right wheel leg system, wherein the pull rod rocker differential suspension system comprises a rotating arm component, a left pull rod, a right pull rod, a left rocker, a right rocker and a plurality of connecting pieces; the rotating arm component comprises a middle rotating shaft and a rotating arm; the middle rotating shaft is connected with the frame by a bearing; the rotating arm is connected with the middle rotating shaft; and two ends of the rotating arm are respectively connected with one ends of the left pull rod and the right pull rod by the connecting pieces; the other ends of the left pull rod and the right pull rod are respectively connected with the left rocker and the right rocket by the connecting pieces; and the left rocker and the right rocker are respectively connected to the left wheel leg system and the right wheel leg system which are arranged on left and right sides of the frame. The pull rod type suspended robot wheel leg walking mechanism has the advantages of high efficiency, stability, good performance of overcoming obstacles and light weight.

Description

technical field [0001] The invention relates to the field of robot walking and movement, in particular to a robot wheel-leg walking mechanism suspended by a tie rod. Background technique [0002] The walking mechanism is just like the human legs to the mobile robot, and it is responsible for important motion functions. The flexibility, efficiency and stability of the walking mechanism are crucial for mobile robots. Especially in a rough road environment, the robot needs to cross gravel piles, large rocks, cross ditches, climb up steep slopes, etc., and in a narrow space, it needs to be able to turn and return in place, and even requires the robot to be able to face any direction at any time Driving, etc., this puts forward very high requirements for the walking mechanism of the mobile robot. Traditional wheeled robots cannot meet the above off-road requirements, while legged robots can meet the requirements, but their stability is poor, their efficiency is low, and they ar...

AI Technical Summary

Problems solved by technology

Among them, the four-wheel structure is compact, light in weight, low in energy consumption, and convenient in attitude adjustment, but its stability is poor, and its flexibility and obstacle-surmounting ability are weak.

The six-wheel structure has three-axis characteristics, and has strong off-road capability and stability, but it is heavy and consumes a lot of energy

[0004] After literature search, it was found that Chinese patent document number: CN200810030902.4, name: active-passive combination rocker-arm rhombic lunar rover system, Chinese patent document number: CN200810030515.0, name: passive rocker-arm diamond-shaped four-wheel lunar rover moving system , and Chinese Patent Document No.: CN200810030900.5, Name: Road Surface Adaptive Rhombus Lunar Rover Mobile System, these three patents adopt a four-wheel rhombus rocker suspension structure, which is light in weight, and realizes obstacles, trenches, and in situ Turning and other functions, but because the left and right differential balance structure is not adopted, it is difficult to realize the left and right wheels landing at the same time under rough road conditions, so the stability is low and the efficiency is low. If the left or right encounters a big rock, it is easy to roll over.

Chinese patent document number: CN201120087131.x, name: a six-wheel lunar rover with a wheel-leg type crank slider, which adopts a six-wheel structure and a passive leg structure with a crank slider, which has high efficiency and a relatively stable structure. Block structure stroke limit, obstacle height is limited, and because it adopts the climbing method of straight up and down with wheels, it is not adaptable to steep stones and slopes

Images